JPS5935301B2 - Conveyance device - Google Patents

Description

【発明の詳細な説明】 本発明はプレスなどで使用しうる新規な搬送装置に関す
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a novel conveyance device that can be used in a press or the like.

さらに詳しくは、複数個の加工用ステージを具え、各ス
テージ間で移載物を順送りし加工するプレスなどに好適
に採用しうる移載物の搬送装置に関する。複数個のステ
ージを具えたプレスなどに使用される移載物搬送装置に
あつては、２次元搬送装置すなわち移載物を把持すると
ともに該把持平面で移載物を搬送し把持を解除、復帰す
る搬送装置、または３次元装置すなわち移載物を把持し
持上げたのち、該持上げ平面で移載物を搬送し、その後
下降して把持を解除、復帰するごとくした装置があるが
、従来のかかる２次元または３次元の搬送装置にあつて
は、いずれも各次元すなわちＸ軸方向（移載物搬送方向
）、Ｙ軸方向（移載物を把持しかつ解除する際の移載物
搬送線と直角をなす方向）、Ｚ軸方向（移載物を持上げ
および下降させる方向）に、それぞれたとえばエアシリ
ンダなどの駆動器を用いるとともに、各駆動器を経時的
に制御して２次元、３次元の搬送動作を行なわしめてき
たため装置の構造が複雑となり、また高価なものとなら
ざるをえなかつた。More specifically, the present invention relates to a conveying device for transferred objects that is equipped with a plurality of processing stages and that can be suitably employed in a press or the like that sequentially feeds and processes transferred objects between the stages. In the case of a transfer object transport device used in a press equipped with multiple stages, etc., it is a two-dimensional transfer device that grips the transfer object, conveys the transfer object on the gripping plane, releases the grip, and returns. There are conveyance devices or three-dimensional devices, that is, devices that grasp and lift the transferred object, then transport the transferred object on the lifting plane, and then descend to release the grip and return to the original position. In the case of a two-dimensional or three-dimensional conveyance device, each dimension, that is, the X-axis direction (the transferred object conveying direction) and the Y-axis direction (the transferred object conveyance line when grasping and releasing the transferred object) For example, drivers such as air cylinders are used in the perpendicular direction) and the Z-axis direction (the direction in which the transferred object is lifted and lowered), and each driver is controlled over time to achieve two-dimensional and three-dimensional Since the conveyance operation has been required, the structure of the device has become complicated and it has become expensive.

しかもかかる従来の装置にあつては、２次元または３次
元のいずれか一方でしか動作することができず、したが
つて単に２次元動作で充分に搬送し加工しうる移載物の
ばあいであつても、高価、かつ搬送時間の比較的長い３
次元装置を用いなければならず、またかかるばあいを避
けるためには、２次元、３次元の装置を別個にそれぞれ
準備しておくなどの不便がク〕つた〇本発明はかかる従
来装置の問題点を解決しうるものであつて、Ｙ−Ｚ軸方
向の搬送動作を一台の駆動源によつて行なうことができ
、したがつて安価に製造しえ、しかも精度の高い搬送動
作を行ないうる搬送装置の提供をその目的とする。Moreover, such conventional devices can only operate in either 2D or 3D, and therefore, in the case of transferred objects that can be sufficiently transported and processed simply by 2D operation. However, it is expensive and takes a relatively long time to transport 3
A dimensional device must be used, and in order to avoid such a situation, it is inconvenient to prepare two-dimensional and three-dimensional devices separately.The present invention solves the problems of such conventional devices. It is possible to solve the above problems, and the conveying operation in the Y-Z axis direction can be performed by a single drive source, and therefore it can be manufactured at low cost and can perform highly accurate conveying operation. Its purpose is to provide transport equipment.

本発明の他の目的は、２次元、３次元動作が一台の装置
でなしうるとともに、しかも簡単な操作により２次元動
作と３次元動作との間の切替がなしうる搬送装置の提供
にある。Another object of the present invention is to provide a conveying device that can perform two-dimensional and three-dimensional operations with a single device, and can also switch between two-dimensional and three-dimensional operations with a simple operation. .

また従来の移載物把持具を具えたトランスフアバ一を用
いてなる従来の２次元または３次元搬送装置にあつては
、送りピツチすなわちＸ方向の１サイクルあたりの送り
距離は各加工ステージ間ですべて同一であり、したがつ
てたとえば素材抜き加工など加工に際して異なる送りピ
ツチを必要とする移載物につ（・ては、異なる送りピツ
チを要するステージに別個の搬送装置を用いるか、また
は、その工程のみを別異の機械を用いて行なわなければ
ならなかつた。Furthermore, in the case of conventional two-dimensional or three-dimensional conveyance devices that use a transfer bar equipped with a conventional transfer object gripping device, the feed pitch, that is, the feed distance per cycle in the For transfers that are all identical and therefore require different feed pitches during processing, e.g. blanking, separate transport devices may be used for the stages requiring different feed pitches, or Only the process had to be carried out using a different machine.

本発明は従来装置のかかる欠点をも解決しうるものであ
つて、Ｘ方向に２以上の異なる送りピツチが容易にえら
れる搬送装置の提供を他の目的とする。Another object of the present invention is to provide a conveying apparatus which can solve the above drawbacks of the conventional apparatus, and which can easily obtain two or more different feed pitches in the X direction.

以下本発明の装置の１実施例を、第１図に示す４つの加
工ステージａ−ｄで順送り加工される移載物のばあいを
例にとつて説明する。An embodiment of the apparatus of the present invention will be described below, taking as an example a case where a transferred object is sequentially processed in four processing stages a to d shown in FIG.

同図においてステージａｌζ移載物搬送線Ｌ（以下Ｘ軸
という）に対して直角方向（以下Ｙ軸という）から送入
されるたとえばフープ材Ｈを用いてブランクを打抜く工
程を例示し、該ステージａで打抜かれたブランク２すな
わち移載物はステージｂ−ｄで適宜加工されたのち搬出
される。なおブランクの打抜きに際して押板９１は抜代
Ａを有するフープ材Ｈと接触しない位置まで後退しなけ
ればならず、したがつて押板９１についてはステージｂ
とステージｃの間、およびステージｃとステージｄの間
の送りピツチＰ２よりも大きな送りピツチＰ１が通常要
求される。第２〜５図において、本発明の装置１は、１
対のＹ−Ｚ軸搬送具４Ａ，４Ｂと、該Ｙ−Ｚ軸搬送具の
一方に固設されたＸ軸搬送具６とからなる。In the same figure, the process of punching out a blank using, for example, a hoop material H fed from a direction perpendicular to the stage alζ transfer line L (hereinafter referred to as the X-axis) (hereinafter referred to as the Y-axis) is illustrated. The blank 2 punched out at stage a, that is, the transferred object, is suitably processed at stages b to d and then transported out. In addition, when punching a blank, the push plate 91 must be moved back to a position where it does not come into contact with the hoop material H having a punching allowance A.
A feed pitch P1 larger than the feed pitch P2 between stage c and stage c and between stage c and stage d is normally required. 2 to 5, the device 1 of the present invention includes 1
It consists of a pair of Y-Z axis conveyors 4A, 4B and an X-axis conveyor 6 fixed to one of the Y-Z axis conveyors.

Ｙ−Ｚ軸搬送具４Ａ，４Ｂ（Ｙ−Ｚ軸搬送具４Ａ，４Ｂ
は同様な構成を有するので、とくに必要なばあいをのぞ
き搬送具４Ａを用いて以下説明する）は適宜基礎などに
固定される取付台１０と、該取付台１０の下部で第１の
シリンダ取付板２２に固着された第１のシリンダ部材２
０と、取付台１０上に位置し、かつ第１シリンダ部材２
０により上下動しうる一対の可動台４０ａ，４０ｂ（符
号Ａ，ｂは各対となる部品を示し、図においては以下原
則としてその一方のみを示す）と、第１のシリンダ部材
２０と協働して可動台４０ａ，４０ｂを上下動させうる
可動台枢動手段５０と、移載物把持具６１ａ〜６１ｆを
有しかつ可動台４０ａ，４０ｂ上で走行可能に支持され
た１対のトランスフアバ一６０ａ，６０ｂとを具える。
前記第１のシリンダ部材２０は、取付台１０の下面から
距離１１を隔てて配設された第１のシリンダー取付板２
２に固着され、かつ該シリンダ部材２０のピストンロツ
ド２１は取付台１０に穿設された孔１１を挿通するとと
もに先端部には可動台４０ａ，４０ｂに対向して両側面
にラツク２３ａ，２３ｂを有する第１のラツク部材２３
が固設されている。Y-Z axis carrier 4A, 4B (Y-Z axis carrier 4A, 4B
have a similar configuration, so the following description will be made using the conveyor 4A, except when particularly necessary. First cylinder member 2 fixed to plate 22
0, located on the mounting base 10, and the first cylinder member 2
A pair of movable tables 40a and 40b (numerals A and b indicate each pair of parts, and in the drawings, in principle, only one of them is shown below) that can move up and down by 0 and the first cylinder member 20 cooperates. a movable base pivoting means 50 capable of vertically moving the movable bases 40a, 40b, and a pair of transfer bars having transfer object gripping tools 61a to 61f and movably supported on the movable bases 40a, 40b. - 60a, 60b.
The first cylinder member 20 is mounted on a first cylinder mounting plate 2 disposed at a distance 11 from the bottom surface of the mounting base 10.
2, and the piston rod 21 of the cylinder member 20 passes through a hole 11 made in the mounting base 10, and has racks 23a and 23b on both sides at the tip facing the movable bases 40a and 40b. First rack member 23
is permanently installed.

なお該第１のラツク部材２３の下端部２４は、第１のシ
リンダ部材２０のピストンロツドの下降にともない取付
台１０の上面に当接しうるとともに、かつ下端部２４が
取付台１０に当接したとき、第１のシリンダー部材２０
のストロークにはまだ余裕１２（第２図に示す）を残す
ごとく各部寸度が設定されている。さらに第１のシリン
ダ取付板２２には可動台枢動手段５０が設けられている
。可動台枢動手段５０は、第１のシリンダ取付板２２に
立設された枢動部材５１ａ，５１ｂと、取付台１０に形
成されかつ枢動部材５１ａ，５１ｂが枢動しうるガイド
手段５２ａ，５２ｂと、取付台１０と第１のシリンダ取
付板２２とに間挿された第１の圧縮バネ５３ａ，５３ｂ
とからなる。本実施例において＆ζ枢動部材５１ａ，５
１ｂは第１のシリンダ取付板２２に一端が固着されたピ
ン部材５１ａ１，５１ｂ１であり、またガイド手段５２
ａ，５２ｂは前記ピン部材を摺接しつつ案内しえ、かつ
取付台に穿設されたガイド孔５２ａ１，５２ｂ１として
形成される。さらにピン部材５１ａ１，５１ｂ，の他端
は可動台４０ａ，４０ｂに螺着されている。なお可動台
４０ａ，４０ｂは、第１の圧縮バネ５３ａ，５３ｂによ
り、常時は下に付勢され、かつ該バネ５３ａ，５３ｂの
バネカは第１のシリンダ部材２０の作動力よりも小さく
形成されている。The lower end 24 of the first rack member 23 can come into contact with the upper surface of the mounting base 10 as the piston rod of the first cylinder member 20 descends, and when the lower end 24 comes into contact with the mounting base 10. , first cylinder member 20
The dimensions of each part are set so that a margin 12 (shown in FIG. 2) is still left in the stroke. Further, the first cylinder mounting plate 22 is provided with a movable table pivoting means 50. The movable base pivoting means 50 includes pivoting members 51a and 51b erected on the first cylinder mounting plate 22, and guide means 52a formed on the mounting base 10 and allowing the pivoting members 51a and 51b to pivot. 52b, and first compression springs 53a, 53b inserted between the mounting base 10 and the first cylinder mounting plate 22.
It consists of In this embodiment &ζ pivoting members 51a, 5
1b is a pin member 51a1, 51b1 whose one end is fixed to the first cylinder mounting plate 22, and a guide means 52
52a and 52b are formed as guide holes 52a1 and 52b1 bored in the mounting base and capable of guiding the pin members while slidingly contacting them. Furthermore, the other ends of the pin members 51a1 and 51b are screwed onto the movable bases 40a and 40b. The movable bases 40a and 40b are normally urged downward by first compression springs 53a and 53b, and the spring force of the springs 53a and 53b is formed to be smaller than the operating force of the first cylinder member 20. There is.

可動台４０ａ，４０ｂは第１のラツク部材２３のラツク
２３ａ，２３ｂに噛合するピニオン４２ａ，４２ｂをそ
れぞれ内部空間で枢支するとともに、該ピニオン４２ａ
，４２ｂと噛合する第２のラツク部材４３ａ，４３ｂを
、Ｙ軸方向に形成された上部の摺動溝４４ａ，４４ｂ内
で摺動自在に保持している。なお第２のラツク部材４３
ａ，４３ｂは固定金具４１（第２図では一点鎖線で示す
）によつて離脱が防止される。さらに本実施例で＆糺ピ
ニオン４２ａ，４２ｂと第１のラツク部材２３との噛合
は、第１のラツク部材２３が一定距離下降したときすな
わちピニオン４２ａ，４２ｂに噛合する第２のラツク部
材４３ａ，４３ｂが予め定められた接近位置まで互いに
接近したとき、ピニオン４２ａ，４２ｂと第１のラツク
部材２３との噛合が解除されるごとく形成され、したが
つて第１のラツク部材２３はそののち、ピニオン４２ａ
，４２ｂを回転させることなく自由に下降しうる。さら
にピニオン４２ａ，４２ｂには、第７図に詳示するごと
く、可動台４０ａ，４０ｂの側壁に形成された孔４５内
でバネ４６を介してボルト４７により押圧される半球頭
ピン４８を嵌入しうる凹部４９ａ，４９ｂが前記ピニオ
ン４２ａ，４２ｂと第１のラツク部材２３との噛はずれ
位置に対応して形成され、したがつてピニオン４２ａ，
４２ｂは第１のラツク部材２３との噛合が解除された位
置で回動が阻止され、その結果第２のラツク部材４３ａ
，４３ｂもその位置で停止する。さらに第２のラツク部
材４３ａ，４３ｂの上面には、Ｘ軸方向の摺動部６２ａ
，６２ｂを有する取付具６３ａ，６３ｂが固着されてい
る。The movable bases 40a, 40b respectively pivotally support pinions 42a, 42b that mesh with the racks 23a, 23b of the first rack member 23 in their internal spaces, and
, 42b are slidably held in upper sliding grooves 44a, 44b formed in the Y-axis direction. Note that the second rack member 43
a, 43b are prevented from coming off by fixing fittings 41 (indicated by dashed lines in FIG. 2). Furthermore, in this embodiment, the engagement between the pinions 42a and 42b and the first rack member 23 is achieved when the first rack member 23 is lowered a certain distance, that is, when the second rack member 43a engages with the pinions 42a and 42b, When the pinions 43b approach each other to a predetermined approach position, the engagement between the pinions 42a and 42b and the first rack member 23 is released, so that the first rack member 23 then closes the pinion. 42a
, 42b can be freely lowered without rotating them. Further, as shown in detail in FIG. 7, a hemispherical head pin 48 is inserted into the pinion 42a, 42b and is pressed by a bolt 47 via a spring 46 in a hole 45 formed in the side wall of the movable base 40a, 40b. Recesses 49a, 49b are formed corresponding to the positions where the pinions 42a, 42b and the first rack member 23 are disengaged.
42b is prevented from rotating at the position where it is disengaged from the first rack member 23, and as a result, the second rack member 43a
, 43b also stop at that position. Furthermore, a sliding portion 62a in the X-axis direction is provided on the upper surface of the second rack members 43a, 43b.
, 62b are fixed.

なおトランスフアバ一６０ａ，６０ｂは、前記取付具６
３ａ，６３ｂの摺動部６２ａ，６２ｂに挿通されるとと
もに、移載物把持具６１ａ〜６１ｆが同一の間隔で配着
されている。Note that the transfer bars 60a and 60b are connected to the mounting tool 6.
3a, 63b, and the transferred object gripping tools 61a to 61f are arranged at the same intervals.

なお移載物把持具６１ａ〜６１ｆは、トランスフアバ一
６０ａ，６０ｂ上を任意に移動できかつ固着しうるとと
もに、一対のトランスフアバ一の一方に取付けられる移
載物把持具の先端把持片６４はバネ手段（図示されてい
ない）などを介してＹ軸方向に取付具基台６５内に押入
可能に形成しておくのがよい。さらにトランスフアバ一
６０ａ，６０ｂにはたとえば第８図に示すごとく、各対
称位置にＸ軸方向の動作に係合しうる係止手段６６ａ，
６６ｂが形成され、本実施例では該係止手段６６ａ，６
６ｂはＹ軸方向に設けられた溝６６ａ，，６６ｂ１によ
り構成されている。なお第４図に詳示するごとく可動台
４０ａ，４０ｂと取付台１０とには、可動台４０ａ，４
０ｂに形成されたタツプ孔３１ａ，３１ｂと、取付台１
０に穿設されたボルト孔３２ａ，３２ｂと、該ボルト孔
を通してタツプ孔に螺着されるボルト３３ａ，３３ｂと
からなる掛止具３０ａ，３０ｂが設けられている。Note that the transferred object gripping tools 61a to 61f can be moved arbitrarily on the transfer bars 60a and 60b and can be fixed thereto, and the tip gripping piece 64 of the transferred object gripping tool attached to one of the pair of transfer bars is It is preferable to form it so that it can be pushed into the fixture base 65 in the Y-axis direction via a spring means (not shown) or the like. Furthermore, as shown in FIG. 8, the transfer bars 60a, 60b include locking means 66a, which can be engaged in movement in the X-axis direction, at each symmetrical position.
66b is formed, and in this embodiment, the locking means 66a, 6
6b is constituted by grooves 66a, 66b1 provided in the Y-axis direction. As shown in detail in FIG. 4, the movable bases 40a, 40b and the mounting base 10 are
Tap holes 31a, 31b formed in 0b and mounting base 1
Hooks 30a and 30b are provided which are comprised of bolt holes 32a and 32b drilled in the 0 and bolts 33a and 33b that are screwed into tap holes through the bolt holes.

一方Ｘ軸搬送具６は、本実施例ではＹ−Ｚ軸搬送具４３
の可動台４０ｂに第２のシリンダ取付板１２を介して固
設された第２のシリンダ部材７０と、トランスフアバ一
６０ａ，６０ｂの係止手段６６と係合しうる横行手段８
１を具えたクロスバ一８０と、押板９１を有し、かつ第
２のシリンダ部材７０とクロスバ一８０とを摺動可能に
結合する結合部材９０と、クロスバ一８０の移動を規制
しうるストツパ一１０１ａ，１０１ｂ，１゛０２ａ，１
０２ｂとからなる。On the other hand, the X-axis carrier 6 is the Y-Z-axis carrier 43 in this embodiment.
The second cylinder member 70 is fixed to the movable base 40b via the second cylinder mounting plate 12, and the traversing means 8 can be engaged with the locking means 66 of the transfer bars 60a, 60b.
1, a coupling member 90 having a push plate 91 and slidably coupling the second cylinder member 70 and the crossbar 80, and a stopper capable of regulating the movement of the crossbar 80. -101a, 101b, 1゛02a, 1
02b.

第２のシリンダ部材７０は、可動台に固設された第２の
シリンダ取付板７２に取付けられ、かつ第２のシリンダ
部材７０のピストンロツド７１は結合板９２に固着され
ている。The second cylinder member 70 is attached to a second cylinder mounting plate 72 fixed to the movable base, and the piston rod 71 of the second cylinder member 70 is fixed to a coupling plate 92.

一方、クロスバ一８０＆翫第８図の一点鎖線で示すごと
く、前記トランスフアバ一６０ａ，６０ｂの溝６６ａ１
，６６ｂ１と係合し、かつトランスフアバ一６０ａ，６
０ｂがＹ−Ｚ軸搬送具４Ａ，４ＢによりＹ軸方向に駆動
され変位する横行距離を超える長さを有する、Ｙ軸方向
に形成された横行手段８１ａ，８１ｂを有する。On the other hand, as shown by the one-dot chain line in FIG.
, 66b1, and transfer bars 60a, 6
0b has traverse means 81a, 81b formed in the Y-axis direction and having a length exceeding the traverse distance over which the Y-Z-axis carriers 4A, 4B are driven and displaced in the Y-axis direction.

該手段８１ａ，８１ｂは本実施例では長孔８１ａ１，８
１ｂ１により形成されまたクロスバ一８０の側面８２に
は摺動孔８３ａ，８３ｂが穿設された一対の受板８５ａ
，８５ｂが設けられている。結合部材９０は、前記結合
板９２と、該結合板９２に螺着、立設されかつ前記受板
８５ａ，８５ｂの摺動孔８３ａ，８３ｂから突出するご
とく該摺動孔８３ａ，８３ｂに挿入されしかも該突出部
分に抜止具９３ａ，９３ｂが設けられた摺動部材９４ａ
，９４ｂと、結合板９１と受板８５ａ，８５ｂとの間に
介装された第２の圧縮バネ９５ａ，９５ｂとからなる。In this embodiment, the means 81a and 81b are long holes 81a1 and 81a.
1b1 and a pair of receiving plates 85a in which sliding holes 83a and 83b are bored in the side surface 82 of the crossbar 80.
, 85b are provided. The coupling member 90 is screwed onto the coupling plate 92, is erected, and is inserted into the sliding holes 83a, 83b of the receiving plates 85a, 85b so as to protrude from the sliding holes 83a, 83b. Moreover, the sliding member 94a is provided with stoppers 93a and 93b on the protruding portion.
, 94b, and second compression springs 95a, 95b interposed between the coupling plate 91 and the receiving plates 85a, 85b.

本実施例においては、摺動部材９４ａ，９４ｂはボルト
部材９４ａ，，９４ｂ１により形成され、かつ第２の圧
縮バネ９５ａ，９５ｂは該ボルト部材９４ａ１，９４ｂ
１に外挿されている。さらに結合板９２の下方には、移
載物搬送線すなわちＸ軸方向に延長して形成され、かつ
先端部に移載物の押圧端を具えた押板９１が取付けられ
ている。In this embodiment, the sliding members 94a, 94b are formed by bolt members 94a, 94b1, and the second compression springs 95a, 95b are formed by the bolt members 94a1, 94b.
extrapolated to 1. Further, below the coupling plate 92, a push plate 91 is attached which is formed to extend in the transfer object conveyance line, that is, in the X-axis direction, and has a pressing end for the transfer object at its tip.

なおストッパ一１０１ａ，１０１ｂおよび１０２ａ，１
０２ｂはクロスバ一８０の移動を規制しうるようにクロ
スバ一８０を挾さんでその両側に適宜設けられている。Note that the stoppers 101a, 101b and 102a, 1
02b are appropriately provided on both sides of the crossbar 80 to sandwich the crossbar 80 so as to restrict the movement of the crossbar 80.

つぎに本発明の装置の動作を、本発明の搬送モードを示
す第６図を参照して説明する。Next, the operation of the apparatus of the present invention will be explained with reference to FIG. 6, which shows the transport mode of the present invention.

Ｙ−Ｚ軸搬送具４Ａ，４Ｂの第１のシリンダ部材２０の
ピストンロツド２１が上昇すると、第１のラツク部材２
３は２つのピニオン４２ａ，４２ｂをそれぞれ正、逆に
回転して第２のラック部材４３ａ，４３ｂを相互に離れ
る方向に移動させ、トランスフアバ一６０ａ，６０ｂを
最も開いて位置せしめる。When the piston rod 21 of the first cylinder member 20 of the Y-Z axis conveyor 4A, 4B rises, the first rack member 2
3 rotates the two pinions 42a and 42b in the forward and reverse directions, respectively, to move the second rack members 43a and 43b away from each other, and position the transfer levers 60a and 60b in the most open position.

なおそのとき可動台４０ａ，４０ｂは取付台１０上に静
置されかつＸ軸搬送具６の第２のシリンダ部材７０のピ
ストンロツド７１は最も後退した位置にある。かかる状
態が本発明の装置の搬送モードの基点となる第６図の位
置０ａ，０ｂを示す。つぎに第１のシリンダ部材２０が
下降すると第１のラツク部材２３、ピニオン４２ａ，４
２ｂ，第２のラツク部材４３ａ，４３ｂを介して、トラ
ンスフアバ一６０ａ，６０ｂは相互に接近する。At this time, the movable bases 40a and 40b are placed still on the mounting base 10, and the piston rod 71 of the second cylinder member 70 of the X-axis carrier 6 is at the most retracted position. Such a state indicates positions 0a and 0b in FIG. 6, which are the base points of the transport mode of the apparatus of the present invention. Next, when the first cylinder member 20 descends, the first rack member 23, pinions 42a, 4
2b, the transfer levers 60a, 60b approach each other via the second rack members 43a, 43b.

前記したごとく、第１のラツク部材２３が所定量下降す
ると、ピニオン４２ａ，４２ｂとの噛合が解除され、そ
れと同時にピニオン４２ａ，４２ｂの凹部４９ａ，４９
ｂに半球頭ピン４８ａ，４８ｂが嵌入してピニオン４２
ａ，４２ｂの回転を阻止するため、トランスフアバ一６
０ａ，６０ｂもその位置で拘束される。なおこの状態は
移載物把持具６１ａ〜６１ｆにより移載物を把持した状
態であつて、第６図での位置１ａ，１ｂに該当する。第
１のラツク部材２３はさらに下降してその下端部２４が
取付台１０の上面に当接し、停止する。しかし前記のご
とく、第１のシリンダ部材２０は第１のラツク部材２３
が移動を停止した状態でもまだストロークの余裕１，を
有するため、ピストンロツド２１の移動が停止されたシ
リンダ部材２０は、つぎに第１のシリンダ２０自体を圧
縮バネ５３ａ，５３ｂに抗して引上げることとなり、そ
の結果可動台４０ａ，４０ｂは摺動部材５１ａ，５１ｂ
、第１のシリンダ取付板２２を介して上昇し、第６図の
位置２ａ，２ｂに移る。すなわち移載物を持上げた状態
である。つぎにＸ軸搬送具６の第２のシリンダ部材７０
が連動して動作し、該シリンダのピストンロツド７１を
前進させ、したがつて第２の圧縮バネ９５ａ，９５ｂを
介してクロスバ一８０をストツバ一１０２ａ，１０２ｂ
に接触するまでＸ軸方向に移動させる。As described above, when the first rack member 23 is lowered by a predetermined amount, the engagement with the pinions 42a, 42b is released, and at the same time, the recesses 49a, 49 of the pinions 42a, 42b are released.
The hemispherical head pins 48a and 48b are inserted into the pinion 42.
In order to prevent the rotation of the transfer levers 6a and 42b,
0a and 60b are also restrained at that position. Note that this state is a state in which the transferred object is gripped by the transferred object gripping tools 61a to 61f, and corresponds to positions 1a and 1b in FIG. 6. The first rack member 23 further descends until its lower end 24 comes into contact with the upper surface of the mount 10 and stops. However, as mentioned above, the first cylinder member 20 is connected to the first rack member 23.
Even when the piston rod 21 has stopped moving, it still has a stroke margin of 1, so the cylinder member 20 whose movement of the piston rod 21 has been stopped next pulls up the first cylinder 20 itself against the compression springs 53a and 53b. As a result, the movable bases 40a and 40b have sliding members 51a and 51b.
, rises through the first cylinder mounting plate 22 and moves to positions 2a and 2b in FIG. In other words, the transferred object is in a lifted state. Next, the second cylinder member 70 of the X-axis conveyor 6
The piston rods 71 of the cylinder are moved forward, and the crossbars 80 are stopped by the springs 102a and 102b via the second compression springs 95a and 95b.
Move it in the X-axis direction until it touches.

その結果該クロスバ一８０と、係止手段６６ａ，６６ｂ
１横行手段８１ａ，８１ｂにより係合するトランスフア
バ一６０ａ，６０ｂは移載物を第６図の位置３ａ，３ｂ
に搬送する。なおピストンロツド７１はクロスバ一８０
がストツパ一１０２ａ，１０２ｂと接触したのちも圧縮
バネ９５ａ，９５ｂを圧縮させつつ前進し、その結果結
合板９２に固設された押板９１は、トランスフアバ一４
０ａ，４０ｂよりも大きな送りピツチすなわち第６図の
２Ｃ〜３Ｃ間を移動する。すなわち第１加工ステージで
の送りピツチを他のステージよりも大きくなしうる。つ
ぎにかかる動作の完了を感知して、Ｙ−Ｚ軸搬送具４Ａ
，４Ｂの第１のシリンダ部材２０は動作を再開する。As a result, the crossbar 80 and the locking means 66a, 66b
Transfer bars 60a and 60b engaged by traversing means 81a and 81b move the transferred object to positions 3a and 3b in FIG.
Transport to. The piston rod 71 is connected to the crossbar 80.
After contacting the stoppers 102a, 102b, the compression springs 95a, 95b continue to move forward while compressing the compression springs 95a, 95b. As a result, the press plate 91 fixed to the coupling plate 92
It moves between 2C and 3C in FIG. 6, which is a larger feed pitch than 0a and 40b. In other words, the feed pitch in the first processing stage can be made larger than in the other stages. Upon sensing the completion of the next operation, the Y-Z axis transport tool 4A
, 4B resumes operation.

ピストンロツド２１の当初の伸長は、摺動部材５１ａ，
５１ｂ、圧縮バネ５３ａ，５３ｂにより可動台４０ａ，
４０ｂを下降させ（第６図の位置４ａ，４ｂに示す）、
ピストンロツド２１がさらに伸長すると、取付台１０上
にあつた第１のラツク部材２０が上昇してピニオン４２
ａ，４２ｂに噛合しかつ回転させ、前記凹部４９ａ，４
９ｂに嵌入していた半球頭ピン４８ａ，４８ｂを押出す
るとともに該ピニオン４２ａ，４２ｂにより第２のラツ
ク部材４３ａ，４３ｂを相互に引離すごとく駆動する。
その結果トランスフアバ一６０ａ，６０ｂの移載物把持
具６１ａ〜６１ｆは移載物を解放して第６図の位置５ａ
，５ｂに移動する。かかる動作を検知して、Ｘ軸搬送具
６の第２のシリンダ部材７０は後退をはじめる。The initial extension of the piston rod 21 is caused by the sliding members 51a,
51b, movable base 40a by compression springs 53a, 53b,
40b (shown at positions 4a and 4b in FIG. 6),
When the piston rod 21 further extends, the first rack member 20 on the mounting base 10 rises and the pinion 42
a, 42b and rotate the recesses 49a, 49a.
The hemispherical head pins 48a, 48b that had been fitted into the pins 9b are pushed out, and the pinions 42a, 42b drive the second rack members 43a, 43b so as to separate them from each other.
As a result, the transferred object gripping tools 61a to 61f of the transfer bars 60a and 60b release the transferred object to position 5a in FIG.
, 5b. Upon detecting this movement, the second cylinder member 70 of the X-axis conveyor 6 starts to move backward.

第２のシリンダ部材７０の当初の後退は、結合板９２し
たがつて押板９１のみを圧縮バネ９５ａ，９５ｂを伸長
させつつ後退させ、つぎにボルト部材９４ａ１．９４ｂ
１の抜止具９３ａ，９３ｂがクロスバ一８０の受板８５
ａ，８５ｂと当接してクロスバ一８０を介してトランス
フアバ一６０ａ，６０ｂを後退させる。その結実装置は
再び基点０ａ，０ｂの状態に復帰する。なお以上の説明
からも明らかなごとく、可動台４０ａ，４０ｂを、掛止
手段３０のボルト３３ａ，３３ｂにより取付台１０に固
定すると、第１のシリンダ部材２０が下降し第１ラツク
部材２３の下端が取付台１０に当接したのち＆糺シリン
ダストロークにかりに余裕があつても、摺動部材５１ａ
，５１ｂが第１のシリンダ部材２０自体の上昇を阻止し
、したがつて可動台４０ａ，４０ｂは上昇しない。The initial retraction of the second cylinder member 70 involves retracting only the coupling plate 92 and therefore the press plate 91 while stretching the compression springs 95a, 95b, and then retracting the bolt members 94a1, 94b.
The retainers 93a and 93b of 1 are the receiving plate 85 of the crossbar 80.
a, 85b and move the transfer bars 60a, 60b backward via the crossbar 80. The fruiting device returns to the state of the base points 0a, 0b again. As is clear from the above explanation, when the movable bases 40a and 40b are fixed to the mounting base 10 with the bolts 33a and 33b of the latching means 30, the first cylinder member 20 descends and the lower end of the first rack member 23 After the sliding member 51a comes into contact with the mounting base 10, the sliding member 51a
, 51b prevent the first cylinder member 20 itself from rising, so the movable bases 40a, 40b do not rise.

すなわち第６図において１ａ，１ｂと２ａ，２ｂとの間
、３ａ，３ｂと４ａ，４ｂとの間のいわゆるｚ軸方向の
搬送動作が行なわれず、その結果本発明の装置を２次元
搬送装置として用いうるのである。しかも２次元と３次
元装置との間の切替は単にポルトの着脱のみにより行な
うことができる。さらに周知のレバー手段などを用いて
この切替動作をさらに簡略化しうる。なお前記ストツパ
一１０１ａ，１０１ｂ，１０２ａ，１０２ｂの位置を調
整することによりトランスフアバ一６０ａ，６０ｂｆ）
Ｘ軸方向の送リピツチを調整でき、かつ第２のシリンダ
部材７０のストロークを調節することによつてＸ軸方向
の押板９１の送りピツチを調整しうる。That is, in FIG. 6, the conveyance operation in the so-called z-axis direction between 1a, 1b and 2a, 2b and between 3a, 3b and 4a, 4b is not performed, and as a result, the apparatus of the present invention cannot be used as a two-dimensional conveyance apparatus. It can be used. Moreover, switching between the two-dimensional and three-dimensional devices can be performed simply by attaching and detaching the port. Furthermore, this switching operation can be further simplified using well-known lever means or the like. Note that by adjusting the positions of the stoppers 101a, 101b, 102a, 102b, the transfer levers 60a, 60bf)
The feed pitch in the X-axis direction can be adjusted, and by adjusting the stroke of the second cylinder member 70, the feed pitch of the push plate 91 in the X-axis direction can be adjusted.

第６図の２Ｃ〜３Ｃおよび４Ｃ〜１Ｃが押板９１の送り
ピツチを示している。本発明はかかる構成を有する結果
、Ｙ−Ｚ軸方向に一台のシリンダを用いて駆動でき装置
の構造は簡略化されまた安価に製造しうるとともに簡単
な切替動作により、２次元動作と３次元動作に相互に変
更しえ、きわめて応用の広い装置となる。6C to 3C and 4C to 1C in FIG. 6 indicate the feed pitches of the push plate 91. As a result of the present invention having such a configuration, it can be driven in the Y-Z axis direction using one cylinder, the structure of the device is simplified, it can be manufactured at low cost, and it can perform two-dimensional operation and three-dimensional operation by simple switching operation. The operation can be mutually changed, making it an extremely versatile device.

さらにＸ軸方向に異なる送りピツチを与えることもでき
る。なお本発明の装置を第２〜３図に示すように２つの
Ｙ−Ｚ軸搬送具４Ａ，４ＢをＸ軸方向に並置してトラン
スフアバ一６０ａ，６０ｂを上架するとともにその間で
作業ステージを複数個配設することも、また２つのＹ−
Ｚ搬送具４Ａ，４Ｂを接近させて並置し、かつトランス
フアバ一６０ａ，６０ｂを外側に突出するごとく延長し
て形成させ、該延長部分に作業ステージを配置させても
よい。Furthermore, different feed pitches can be given in the X-axis direction. As shown in FIGS. 2 and 3, the apparatus of the present invention is constructed by placing two Y-Z axis conveyors 4A and 4B side by side in the X-axis direction and mounting transfer bars 60a and 60b on top of each other, and a plurality of work stages are arranged between them. It is also possible to arrange two Y-
The Z conveyors 4A, 4B may be arranged close to each other, the transfer bars 60a, 60b may be extended to project outward, and the work stage may be disposed in the extended portions.

いずれのばあいでも、適宜Ｘ軸搬送具６を設け、各シリ
ンダ部材を同期して駆動させることにより、第６図に示
した搬送モードを適切に行ないうることは明らかである
。なお本発明の装置で用いうるシリンダ部材＆丸エアシ
リンダのほか、ばあいによつては油圧、電動機式などの
直線駆動機が好適に用いうる。In either case, it is clear that the transport mode shown in FIG. 6 can be appropriately carried out by appropriately providing the X-axis transport tool 6 and driving each cylinder member in synchronization. In addition to the cylinder member and round air cylinder that can be used in the apparatus of the present invention, a hydraulic or electric linear drive machine may also be suitably used depending on the case.

さらに本発明の装置はプレスのほか、順送り的に加工し
うる他の種々な機械にも採用しうる。また本発明の装置
の可動台枢動手段、結合部材など、図面において示した
もののほか、同様な機能を発揮しうる種々な周知の機構
のものに置換しうる。Furthermore, the apparatus of the present invention can be used not only for presses but also for various other machines capable of progressive processing. In addition to those shown in the drawings, the movable base pivoting means, coupling member, etc. of the device of the present invention may be replaced with various known mechanisms that can perform the same functions.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の装置が用いうる４つの作業ステージに
より加工する順送り加工工程を例示する線図、第２図は
本発明の装置の一実施例を示す部分欠切斜視図、第３図
はその概略正面図（ただしＹ−Ｚ軸搬送具間を短縮して
示している）、第４図はＹ−Ｚ軸搬送具のＹ軸方向概略
断面図、第５図はその平面図、第６図は本発明の装置の
搬送モードを示す線図、第７図は半球頭ピンを示す部分
断面図、第８図はトランスフアバ一の係止手段を例示す
る部分斜視図である。 （図面の主要符号）４Ａ，４Ｂ：Ｙ−Ｚ軛搬送具、６：
Ｘ軸搬送入 １０：取付台、２０：第１のシリンダ部材
、２２：第１のシリンダ取付板、２３：第１のラツク部
材、２４：下端部．３０ａ，３０ｂ：掛止具、４０ａ，
４０ｂ：可動台、４２ａ，４２ｂ：ピニオン、４３ａ，
４３ｂ：第２のラツク部材、４４ａ，４４ｂ：摺動溝、
５０：可動台枢動手段、５１ａ，５１ｂ：枢動部材、５
１ａ１，５１ｂ１：ピン部材、５２ａ，５２ｂ：ガイド
手段、５２ａ１，５２ｂ１：ガィド孔、５３ａ，５３ｂ
：第１の圧縮バネ、６０ａ，６０ｂ：トランスフアバ一
、６１ａ，〜６１ｆ：移載物把持具、６２ａ，６２ｂ：
摺動部、６３ａ，６３ｂ：取付具、６６ａ，６６ｂ：係
止手段、７０：第２のシリンダ部材、８０：クロスバ一
、８１：横行手段、８１ａ１，８１ｂ，：長孔、８３ａ
，８３ｂ：摺動孔、９０：結合部材、９１：押板、９２
：結合板、９４ａ，９４ｂ：摺動部材、９４ａ１，９４
ｂ１：ボルト部材、９５ａ，９５ｂ：第２の圧縮バネ、
１０１ａ，１０１ｂ，１０２ａ，１０２ｂ：ストツパ一
。FIG. 1 is a diagram illustrating a progressive machining process performed by four working stages that can be used with the apparatus of the present invention, FIG. 2 is a partially cutaway perspective view showing an embodiment of the apparatus of the present invention, and FIG. 3 4 is a schematic sectional view of the Y-Z axis conveyor in the Y-axis direction, and FIG. 5 is its plan view. FIG. 6 is a diagram showing the transport mode of the apparatus of the present invention, FIG. 7 is a partial sectional view showing a hemispherical head pin, and FIG. 8 is a partial perspective view illustrating the locking means of the transfer bar. (Main symbols in the drawing) 4A, 4B: Y-Z yoke carrier, 6:
X-axis transport entry 10: Mounting base, 20: First cylinder member, 22: First cylinder mounting plate, 23: First rack member, 24: Lower end. 30a, 30b: hanging tool, 40a,
40b: Movable base, 42a, 42b: Pinion, 43a,
43b: second rack member, 44a, 44b: sliding groove,
50: Movable table pivoting means, 51a, 51b: Pivoting member, 5
1a1, 51b1: Pin member, 52a, 52b: Guide means, 52a1, 52b1: Guide hole, 53a, 53b
: First compression spring, 60a, 60b: Transfer bar, 61a, ~ 61f: Transfer object gripping tool, 62a, 62b:
Sliding part, 63a, 63b: Fixture, 66a, 66b: Locking means, 70: Second cylinder member, 80: Cross bar, 81: Traverse means, 81a1, 81b,: Long hole, 83a
, 83b: sliding hole, 90: coupling member, 91: push plate, 92
: Connection plate, 94a, 94b: Sliding member, 94a1, 94
b1: bolt member, 95a, 95b: second compression spring,
101a, 101b, 102a, 102b: Stoppers.

Claims (1)

【特許請求の範囲】 １ （ａ）静置された取付台と、 （ｂ）該取付台の下方に配設された第１のシリンダ取付
板に固着され、かつ両側面にラックを有する第１のラッ
ク部材が形成されるとともに該第１のラック部材の下端
部が、ストロークに余裕を残して取付台に当接しうるピ
ストンロッドを具えた第１のシリンダ部材と、（ｃ）第
１のシリンダ取付板と取付台とに間挿された第１の圧縮
バネを有し、かつ取付台に形成されたガイド手段と、該
ガイド手段で摺動しうるとともに一端が前記第１のシリ
ンダ取付板に固着された枢動部材とからなる可動台枢動
手段と、（ｄ）前記枢動部材の他端に固着されかつ前記
第１のラック部材に係合しうるピニオンを枢支するとと
もに、該ピニオンに係合しうる第２のラック部材を、移
載物搬送線に対して直角方向に形成された摺動溝内で保
持し、しかも移載物搬送線の両側に各対向して配設され
た一対の可動台と、（ｅ）前記第２のラック部材に固設
された取付具により形成される移載物搬送線方向の摺動
部に挿通されるとともに移載物把持具を具えた一対の長
尺のトランスフアバーとからなるＹ−Ｚ軸搬送具を有す
ることを特徴とする搬送装置。 ２ 前記ガイド手段が取付台に穿設されたガイド孔であ
り、前記枢動部材が可動台に一端が螺着され、他端がシ
リンダ取付板に固着されたピン部材であることを特徴と
する特許請求の範囲第１項記載の搬送装置。 ３ 前記可動台が、取付台に掛止されうる掛止具を有す
ることを特徴とする特許請求の範囲第１項または第２項
記載の搬送装置。 ４ （ａ）静置された取付台と、 （ｂ）該取付台の下方に配設された第１のシリンダ取付
板に固着され、かつ両側面にラックを有する第１のラッ
ク部材が形成されるとともに該第１のラック部材の下端
部がストロークに余裕を残して取付台に当接しうるピス
トンロッドを具えた第１のシリンダ部材と、（ｃ）第１
のシリンダ取付板と取付台とに間挿された第１の圧縮バ
ネを有し、かつ取付台に形成されたガイド手段と、該ガ
イド手段で摺動しうるとともに一対がシリンダ取付板に
固着された枢動部材とからなる可動台枢動手段と、（ｄ
）前記枢動部材の他端に固着されかつ前記第１のラック
部材に係合しうるピニオンを枢支するとともに、該ピニ
オンに係合しうる第２のラック部材を、移載物搬送線に
対して直角方向に形成された摺動溝内で保持し、しかも
移載物搬送線の両側に各対向して配設された一対の可動
台と、（ｅ）前記第２のラック部材に固設された取付具
により形成される移載物搬送線方向の摺動部に挿通され
るとともに、移載物把持具を有し、しかも移載物搬送線
方向のほぼ対称位置に、移載物搬送線方向の動作に係合
しうる係止手段を具えた一対の長尺のトランスフアバー
とからなるＹ−Ｚ軸搬送具と、 （ｆ）前記可動台に固設されかつピストンロッドを有す
る第２のシリンダ部材と、（ｇ）前記トランスフアバー
の係止手段を移載物搬送線の直角方向に枢動可能に保持
するとともに、該係止手段を介してトランスフアバーを
移動せしめる横行手段を具えたクロスバーと、（ｈ）前
記第２のシリンダ部材のピストンロッドに固着されると
ともに、移載物搬送線方向に延長して形成された押板を
有する結合板と、該結合板とクロスバーとを一定距離を
隔てるとともに両者を近接方向にのみ移動しうるごとく
結合板とクロスバーとに係合された摺動部材と、結合板
とクロスバーとに間挿される第２の圧縮バネとからなる
結合部材と、（ｉ）クロスバーを、第２のシリンダのス
トロークに余裕を残して停止させうる静置されたストツ
パーとからなるＹ−Ｚ軸搬送具とを具えたことを特徴と
する搬送装置。 ５ 前記トランスフアバーの係止手段が該トランスフア
バーに移載物搬送線と直角方向に形成された溝であり、
前記クロスバーの横行手段が該溝と係合できかつ該溝と
同方向に形成された長孔であることを特徴とする特許請
求の範囲第４項記載の搬送装置。 ６ 前記摺動部材が前記結合板に一端を螺着されかつク
ロスバーに穿設された摺動孔に挿通されるとともに他端
がクロスバーに係合されたボルト部材であることを特徴
とする特許請求の範囲第４項記載の搬送装置。[Scope of Claims] 1 (a) a stationary mounting base, and (b) a first cylinder mounting plate that is fixed to a first cylinder mounting plate disposed below the mounting base and that has racks on both sides. (c) a first cylinder member in which a rack member is formed and the lower end of the first rack member is provided with a piston rod that can abut on the mounting base with a margin in the stroke; a first compression spring interposed between the mounting plate and the mounting base, and a guide means formed on the mounting base, capable of sliding on the guide means, and having one end connected to the first cylinder mounting plate; (d) pivoting means for a movable base comprising a fixed pivot member; (d) pivotally supporting a pinion fixed to the other end of the pivot member and capable of engaging with the first rack member; A second rack member capable of engaging with the object is held in a sliding groove formed perpendicularly to the object conveying line, and is disposed facing each other on both sides of the object conveying line. (e) a pair of movable tables, which are inserted into a sliding part in the direction of the transfer object conveyance line formed by a fixture fixed to the second rack member, and include a transfer object gripping tool; 1. A conveying device comprising a Y-Z axis conveying tool consisting of a pair of elongated transfer bars. 2. The guide means is a guide hole drilled in the mounting base, and the pivot member is a pin member with one end screwed to the movable base and the other end fixed to the cylinder mounting plate. A conveying device according to claim 1. 3. The conveyance device according to claim 1 or 2, wherein the movable base has a hook that can be hung on a mounting base. 4. (a) a stationary mounting base, and (b) a first rack member fixed to a first cylinder mounting plate disposed below the mounting base and having racks on both sides. (c) a first cylinder member having a piston rod that allows the lower end of the first rack member to abut against the mounting base with a margin in the stroke;
The cylinder mounting plate has a first compression spring inserted between the cylinder mounting plate and the mounting base, and has a guide means formed on the mounting base, and is slidable on the guide means, and the pair is fixed to the cylinder mounting plate. (d)
) A pinion fixed to the other end of the pivoting member and capable of engaging with the first rack member is pivotally supported, and a second rack member capable of engaging with the pinion is attached to the transferred object conveyance line. (e) a pair of movable tables which are held in sliding grooves formed perpendicularly to the object and which are disposed opposite to each other on both sides of the transfer line; and (e) fixed to the second rack member. It is inserted into the sliding part in the direction of the transfer object transport line formed by the attached fixture, and has an object gripping tool, and the transfer object is inserted at a substantially symmetrical position in the direction of the transfer object transfer line. (f) a Y-Z axis conveyor comprising a pair of elongated transfer bars equipped with locking means capable of engaging movement in the conveyance line direction; (g) a traverse means for pivotally holding the locking means of the transfer bar in a direction perpendicular to the transferred object conveyance line and for moving the transfer bar via the locking means; (h) a coupling plate having a push plate fixed to the piston rod of the second cylinder member and extending in the transfer object conveying line direction; the coupling plate and the crossbar; a sliding member that is engaged with the coupling plate and the crossbar so as to separate them by a certain distance and move them only in the proximal direction; and a second compression spring that is interposed between the coupling plate and the crossbar. and (i) a stationary stopper capable of stopping the crossbar while leaving a margin in the stroke of the second cylinder. Device. 5. The locking means of the transfer bar is a groove formed in the transfer bar in a direction perpendicular to the transferred object conveyance line,
5. The conveying device according to claim 4, wherein the traversing means of the cross bar is a long hole that can engage with the groove and is formed in the same direction as the groove. 6. The sliding member is a bolt member that has one end screwed onto the coupling plate, is inserted into a sliding hole drilled in the cross bar, and has the other end engaged with the cross bar. A conveying device according to claim 4.